Autonomous Endoscope Control Algorithm with Visibility and Joint Limits Avoidance Constraints for da Vinci Research Kit Robot.
Rocco MocciaFanny FicucielloPublished in: ICRA (2023)
Keyphrases
- control algorithm
- wheeled mobile robot
- robotic systems
- control method
- control system
- control strategy
- motion control
- mobile robot
- control law
- adaptive fuzzy
- unmanned aerial vehicles
- matlab simulink
- design procedure
- neural network controller
- service robots
- position and orientation
- fuzzy controller
- autonomous learning
- physical constraints
- temperature control
- autonomous navigation
- autonomous robots
- single neuron
- multi robot
- pid control
- semi autonomous
- fuzzy logic controller
- vision system
- path planning
- inverted pendulum
- trajectory tracking
- humanoid robot
- robot manipulators
- visual servoing
- fuzzy control
- grey prediction
- real time